CN102262437A - motion sensing system - Google Patents
motion sensing system Download PDFInfo
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- CN102262437A CN102262437A CN2011101371433A CN201110137143A CN102262437A CN 102262437 A CN102262437 A CN 102262437A CN 2011101371433 A CN2011101371433 A CN 2011101371433A CN 201110137143 A CN201110137143 A CN 201110137143A CN 102262437 A CN102262437 A CN 102262437A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
- G06F3/0383—Signal control means within the pointing device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/038—Indexing scheme relating to G06F3/038
- G06F2203/0384—Wireless input, i.e. hardware and software details of wireless interface arrangements for pointing devices
Abstract
A motion sensing system includes a hand-held device and a receiver device. The hand-held device includes a microcontroller, a G-sensor (one 3-axis accelerometer), only one 2-axis gyroscope, and a wireless transmitter. The receiver device is preferably a dongle and includes a microcontroller and a wireless receiver. A first axis of the 2-axis gyroscope is parallel to the Z axis of the hand-held device and the second axis of the 2-axis gyroscope forms an acute angle [alpha] with the X axis of the hand-held device. The acute angle [alpha] allows the microcontroller of the receiver device to calculate rotational data around each of the three axis of the hand-held device.
Description
Technical field
The present invention relates to a kind of action sensing system, be particularly related to the hand-held employed system of action sensing device of a kind of action sensing, wherein the hand-held action sensing device of this action sensing comprises two receiving traps that rotary sensor is corresponding with, and this receiving trap is used for producing three spin datas between the axle according to the output data of the hand-held action sensing device of this action sensing.
Background technology
When the user hands an action sensing indicator device and points to a display, this action sensing indicator device can define each turning axle in advance, Z axle directed towards ground wherein, Y-axis is on the direction of being extended toward this display by this action sensing indicator device, and X-axis is on the orthogonal directions of Z axle and Y-axis.In the system that general indicator device uses, when on the XY plane of display, carrying out the action of moving cursor, only need this indicator device to assist this running with respect to the rotation output data of X-axis and Z axle.Therefore, when general indicator device only need be used to refer to the time, only need use the rotation output data of X-axis and Z axle.
In No. the 7th, 239,301, United States Patent (USP) case that LibertyShi proposed, promptly disclosed above-mentioned system.Disclosing in this patent case has a kind of general indicator device, and it includes an accelerometer, is used for measuring the acceleration that this indicator device bears.This indicator device also includes two rotary sensors, with deciding the swing offset of this indicator device with respect to X-axis and Z axle.This swing offset can be adjusted according to the acceleration that this accelerometer determined.The indicator device that this patent case is disclosed only provides its swing offset with respect to X-axis and Z axle, and does not export its swing offset data with respect to Y-axis.
Yet in the time of need being installed on the games system as if indicator device, this games system can need its swing offset with respect to X-axis, Y-axis, Z axle, needs to detect the recreation of swing offset to be applicable to tennis or golf etc.But general indicator device can't provide the swing offset for the 3rd, therefore need be under the prerequisite that does not increase hardware cost, can manage it the action sensing system that can determine that develops with respect to the swing offset of X-axis, Y-axis, Z axle.
Summary of the invention
The present invention provides a kind of hardware that can additionally increase for solving problems of the prior art, and just the energy sensing is with respect to the swing offset of X-axis, Y-axis, Z axle.
For achieving the above object, technical scheme provided by the invention is as follows:
The present invention is a kind of action sensing of announcement system.This action sensing system comprises an action sensing device and a receiving trap.This action sensing device includes three orthogonal axes.One pointing direction is one first along described orthogonal axes.This action sensing device comprises two rotary sensors, is used for detecting the non-zero sharp angle between one first rotary sensor of one second of described orthogonal axes and described rotary sensor.This receiving trap is used for according to the swing offset of this non-zero sharp angle generation corresponding to described orthogonal axes.
The present invention discloses a kind of hand-held action sensing device.Should comprise a three axis accelerometer, two rotary sensors, a microprocessor, reach a Wireless Transmitter by hand-held action sensing device.This three axis accelerometer definition has employed three orthogonal axes of this hand-held action sensing device.Described rotary sensor is used for detecting a sharp angle.This sharp angle is to be formed between one first orthogonal axes of defined one first and described orthogonal axes of one first rotary sensor of this two rotary sensor.This microprocessor is coupled to this three axis accelerometer and takes into account the output data of described rotary sensor to receive this 3-axis acceleration.This Wireless Transmitter is coupled to this microprocessor to receive the output data of this microprocessor.
The present invention discloses a kind of method that is used for operating an action sensing system.This action sensing system comprises a hand-hold device and a receiving trap.This hand-held device comprises a Wireless Transmitter, a first microprocessor, a three axis accelerometer, reaches two rotary sensors.One first rotary sensor of described rotary sensor defined one first be and the defined at least one orthogonal axes of this three axis accelerometer between form a sharp angle.This receiving trap comprises a wireless receiver and one second microprocessor.This method comprise this first microprocessor by this three axis accelerometer receive institute's sensing an acceleration information, by described rotary sensor receive swing offset data, and this acceleration information of being received of output and this swing offset data to this Wireless Transmitter; This acceleration information that this Wireless Transmitter transmission is received and this swing offset data are to this wireless receiver; This acceleration information that this wireless receiver transmission is received and this swing offset data are to this second microprocessor; And this second microprocessor is according to the swing offset of this sharp angle generation corresponding to defined three orthogonal axes of this three axis accelerometer.
Advantage of the present invention is: only need reset the dual-axis rotation instrument in the hand-held action sensing device, make between the pointing direction (that is above-mentioned Y-axis) of defined at least one axle of this dual-axis rotation instrument and hand-held action sensing device and produce sharp angle, then can calculate the swing offset of hand-held action sensing device, to save above-mentioned hardware cost by this sharp angle corresponding to three of X, Y, Z.
Description of drawings
Fig. 1 is the block schematic diagram of a disclosed action sensing system.
Fig. 2 illustrates the swing offset of hand-held sensing apparatus with respect to X-axis and Z axle.
Fig. 3 illustrates the sharp angle between the pointing direction of defined wherein one and hand-held action sensing device of dual-axis rotation instrument.
Fig. 4 is the block schematic diagram of hand-held action sensing device shown in Figure 3.
Fig. 5 is the schematic side view of hand-held action sensing device shown in Figure 3 when pointing out that the dual-axis rotation instrument defines each direction.
Simple synoptic diagram when Fig. 6 and Fig. 7 are applied to tennis software game or golf software game for hand-held action sensing device shown in Figure 3.
Wherein, description of reference numerals is as follows:
1 action sensing system
10,40 hand-held action sensing devices
11,42 Wireless Transmitters
12 wireless receivers
13,14,43 microprocessors
16,47 dual-axis rotation instrument
18,46 G sensors
20 receiving traps
41,45 surfaces
49 dotted lines
Embodiment
See also Fig. 1.One action sensing system 1 comprises a hand-held action sensing device 10 and a receiving trap 20, and wherein hand-held action sensing device 10 can be a wireless game controller.Hand-held action sensing device 10 comprises a microprocessor 13, a G sensor 18, a twin shaft gyrostat 16, a Wireless Transmitter RF1 and two rotary sensors; Wherein G sensor 18 is to be a three axis accelerometer, and this two rotary sensor can be one to have the single inductor of two quadrature rotary inductive axles, can be gyroscope, optics rotary inductive device, and magnetic inductor can be used to detect the inductor of spinning movement.Receiving trap 20 can be an adapter (Dongle), and comprises a microprocessor 14, a wireless receiver 12, an and Port (not shown, as to can be a universal serial bus (Universal Serial Bus)).This Port can be used to connect a computer, for example a desktop computer or a notebook computer.
The wireless receiver 12 that receiving trap 20 comprises is used for receiving by Wireless Transmitter 11 and transmits and this next numerical data, and exports this numerical data to microprocessor 14.Microprocessor 14 is used for handing action sensing device 10 at present by gesture or action that the user applied according to this numerical data decision, and is used for exporting corresponding other devices that controls signal to by this Port, for example exports this and controls signal to a computer.
In order to simplify the narration that is relevant to disclosed action sensing system 1, and represent that clearly above-listed narration is not the restrictive condition for action sensing system 1, at this is to disclose 10 all directions axles that operate according to this of hand-held action sensing device in advance, and is illustrated in Fig. 2.For example the Z axle of hand-held action sensing device 10 is set to and the surface level quadrature, and its Y-axis is set to along the pointing direction of hand-held action sensing device 10.The X-axis of hand-held action sensing device 10 is set on the orthogonal directions that is positioned at Y-axis and Z axle.
Fig. 3 is according in one embodiment of the invention, the simple synoptic diagram of X, Y, three relative directions of Z in the action sensing shown in Figure 2 system 1.At first, two of 16 sensings of dual-axis rotation instrument wherein one first can be parallel with the Z axle of hand-held action sensing device 10, that is this first also with the surface level quadrature; And one second in these two is to be positioned on the XY plane of hand-held action sensing device 10 correspondences, and this second is to form a size with X-axis to be the sharp angle of α.By framework shown in Figure 3, hand-held action sensing device 10 can calculate by the acceleration information of 18 sensings of G sensor and the angular velocity data of 16 sensings of dual-axis rotation instrument with respect to angular velocity that orthogonal axes produced such as X, Y, Z.
See also Fig. 4, it is the disclosed simple synoptic diagram that is positioned at a hand-held action sensing device 40 of a predeterminated position (Home Position).As shown in Figure 4, a microprocessor 43 is electrically coupled with a G sensor 46 and a Wireless Transmitter 42, and microprocessor 43, G sensor 46, all is arranged on the first surface 41 with Wireless Transmitter 42, and wherein first surface 41 can be a printed circuit board (PCB).Three axles implementing a three axis accelerometer of G sensor 46 can be hand-held action sensing device 40 defined three axles.The plane at first surface 41 places can be parallel to hand-held action sensing device 40 defined XY planes, wherein hand-held action sensing device 40 employed Z axles are and the surface level quadrature, and its employed Y-axis is the pointing direction along hand-held action sensing device 40, that is shown in the dotted line as shown in Figure 4 49.
One twin shaft gyrostat 47 can be arranged on the second surface 45, and also can be a printed circuit board (PCB), and wherein dual-axis rotation instrument 47 comprises two rotary sensors.Dual-axis rotation instrument 47 is to be electrically coupled with microprocessor 43.Employed one first of dual-axis rotation instrument 47 is to be parallel to hand-held action sensing device 40 defined Z axles, and its employed one second G sensor 46 defined X-axis that comprise with hand-held action sensing device 40 are to form one big or smallly to be the sharp angle of α.
See also Fig. 5, it is the side view corresponding to three relativenesses shown in Figure 3, with defined each the direction of diagram dual-axis rotation instrument 47, wherein the defined axle of one first sensor of dual-axis rotation instrument 47 is to be orthogonal to first surface 41, that is be orthogonal to surface level, and the defined axle of one second sensor of dual-axis rotation instrument 47 is that pointing direction with hand-held action sensing device 40 forms a sharp angle.
When the user rotated hand-held action sensing device 40 and leaves this precalculated position, microprocessor 43 was to receive simulated datas by G sensor 46 and dual-axis rotation instrument 47, and this simulated data is converted to numerical data under the situation of needs, to proofread and correct this numerical data.Microprocessor 43 is also exported this numerical data to Wireless Transmitter 42, so that this numerical data is sent to receiving trap 20.Receiving trap 20 included wireless receiver 12 usefulness cause Wireless Transmitters 42 receive this numerical data, and export this numerical data to microprocessor 14.Microprocessor 14 be used for according to received this size of correcting digital data and sharp angle α judge on the hand-held action sensing device 40 gesture or action by the user applied.
A·B＝|A|x|B|x?cos?θ (1)；
cosθ＝A·B/(|A|x|B|) (2)；
Wherein A represents the acceleration that G sensor 46 is sensed, and B is the vector of unit length on the orthogonal vector of surface level.
When the size of oblique angle θ is known, microprocessor 14 can calculate the angular velocity of hand-held action sensing device 40.When hand-held action sensing device 40 during around X-axis, Y-axis, the rotation of Z axle, this angular velocity can calculate according to following formula:
Z_rotation＝Wz?x?cos?θ+(Wxy/sin?α)x?sin?θ (3)；
X_rotation＝-Wz?x?sin?θ+(Wxy/sin?α)x?cos?θ (4)；
Y_rotation＝Wxy/sin(90°-α) (5)；
Wherein W represents angular velocity (Wxy is for respect to the angular velocity on XY plane, Wz is the angular velocity with respect to the Z axle), X_rotation, Y_rotation, each representative of Z_rotation are represented formed sharp angle between dual-axis rotation instrument 47 and the hand-held action sensing device 40 defined X-axis with respect to X-axis, Y-axis, the rotation amount of Z axle, α.
To add with respect to the rotation of Y-axis can increase above-mentioned hand-held action sensing device in the purposes of controlling and intending really going up in the design.For instance, when playing tennis game with hand-held action sensing device, hand-held action sensing device 40 can be intended very using for tennis racket for the user, and hand-held action sensing device 40 can be calculated the swing offset amount that tennis racket produces as the user with respect to the swing offset of Y-axis, allows the user can generally bounce virtual tennis as shown in Figure 6.In Fig. 6, the speed of the virtual tennis that tennis software recreation meeting will be bounced and the bounce-back distance of direction and/or this virtual tennis are adjusted with rotational speed the direction (arsis or bat down) of bouncing that hand-held action sensing device 40 applies according to the user.Figure is shown with desire and rotates the user of wrist with the virtual tennis racket that rotates hand-held action sensing device and implemented in Fig. 6, to specify the notion of the present invention on motion detection; As shown in Figure 6, be hand-held action sensing device 40 though in fact the user rotate, on screen, be equal in the mode that plays tennis and rotated virtual tennis racket.Because the rotation of hand-held action sensing device 40 is to carry out around itself pointing direction, the rotation of therefore hand-held action sensing device 40 is corresponding to above-mentioned Y-axis.In screen shown in Figure 6, represent the virtual tennis and track thereof that the user bounces except showing, also can demonstrate user's virtual opponent.The track of virtual tennis is represented with solid line in Fig. 6, under the situation of the swing offset that is not calculating hand-held action sensing device, virtual net club has crossed net and has arrived it by the part that rebounds in virtual place, and as shown in phantom in Figure 6 with near the track of straight line away from the user.Yet, to hand under the situation that the swing offset of action sensing device with respect to Y-axis count, and can make virtual tennis be changed direction shown in solid line track among Fig. 6 and passed through the place of virtual opponent by the back of rebounding, virtual place at the spinning momentum that is applied on the virtual tennis; Swing offset on the virtual tennis and direction can be adjusted according to the speed and the direction of hand-held action sensing device 40.
The also outer embodiment that illustrates among Fig. 7.When the user played golf game, it really was a golf club that hand-held action sensing device 40 can be intended, and hand-held action sensing device 40 is calculated swing offset when detecting the user and brandish the virtual golf mallet with respect to the swing offset of Y-axis.As shown in Figure 7, hand-held action sensing device 40 can be corresponding to the virtual golf mallet that the user brandished in the screen.As user during around the hand-held action sensing device 40 of Y-axis rotation, games can be according to the swing offset of hand-held action sensing device 40, and corresponding virtual user's the health that shows on screen begins to rotate and hit the picture of virtual golf ball.These games can be adjusted distance and the heading that virtual tennis is hit by the virtual golf mallet according to speed and rotation amount that hand-held action sensing device 40 is rotated.
The above is to be preferred embodiment of the present invention, yet will hand that action sensing device 40 will carry out suitably and reasonably other embodiment of being produced of change must be considered as category of the present invention, wherein this class change comprise to microprocessor 43, Wireless Transmitter 42, G sensor 46, and dual-axis rotation instrument 47 position reasonable change in design is set.In certain embodiments of the present invention, dual-axis rotation instrument 47 can directly be arranged on the first surface 41, and second surface 45 can be removed simultaneously.In addition, dual-axis rotation instrument 47 can be simplified calculating with respect to corresponding this first of defining of Z axle institute of hand-held action sensing device 40 definition, but is not for essential concerning adjusted hand-held action sensing device 40.In one embodiment of this invention, what form sharp angle α with G sensor 46 is Y-axis, but not the mentioned X-axis of embodiment before, and above-mentioned be used for calculating the formula of angular velocity and oblique angle using also must corresponding adjustment.Yet, in all embodiment of the present invention, all include sharp angle α between one of them, and preferable situation is that acquisition dual-axis rotation instrument 47 is defined should at least one and along the sharp angle α between the pointing direction of handing action sensing device 40 three of the defined at least one axle of dual-axis rotation instrument 47 and X, Y, Z.By calculating sharp angle α, can calculate the swing offset of hand-held action sensing device according to this corresponding to three of X, Y, Z.
In summary, only use the device of two rotary sensors can only calculate the swing offset of this device in the prior art, for example a twin shaft gyrostat corresponding to two axles; And to list calculating in the lump in order installing, to need additionally on hardware, to increase by one the 3rd rotary sensor corresponding to one the 3rd swing offset.Yet in the present invention, only need reset the dual-axis rotation instrument in the hand-held action sensing device, make between the pointing direction (that is above-mentioned Y-axis) of defined at least one axle of this dual-axis rotation instrument and hand-held action sensing device and produce sharp angle, then can calculate the swing offset of hand-held action sensing device, to save above-mentioned hardware cost by this sharp angle corresponding to three of X, Y, Z.
The above only is the preferred embodiments of the present invention, and all equalizations of doing according to claim of the present invention change and modify, and all should belong to covering scope of the present invention.
Claims (25)
1. action sensing system comprises:
One action sensing device, include three orthogonal axes, wherein a pointing direction is along described orthogonal axes one first, and this action sensing device comprises two rotary sensors, is used for detecting the non-zero sharp angle between one first rotary sensor of one second of described orthogonal axes and described rotary sensor; And
One receiving trap is used for according to the swing offset of this non-zero sharp angle generation corresponding to described orthogonal axes.
2. action sensing according to claim 1 system is characterized by, and described two rotary sensors can be one to have the single inductor of two quadrature rotary inductive axles.
3. action sensing according to claim 1 and 2 system is characterized by, and described two rotary inductive devices can be gyroscopes, optics rotary inductive device, and magnetic inductor can be used to detect the inductor of spinning movement.
4. action sensing according to claim 1 system is characterized by, and this action sensing device also comprises a three axis accelerometer, and it is corresponding one by one and along these three orthogonal axes that this three axis accelerometer includes three axles.
5. action sensing according to claim 4 system, it is characterized by, this action sensing device also comprises a first microprocessor, and this first microprocessor is coupled to this three axis accelerometer and this two rotary sensor, takes into account the output data of described rotary sensor to receive this 3-axis acceleration.
6. action sensing according to claim 5 system is characterized by, and this action sensing system also comprises a transmitter, is coupled to this first microprocessor to receive the output data of this first microprocessor.
7. action sensing according to claim 6 system is characterized by, and this receiving trap comprises a receiver, is coupled to one second microprocessor to receive the output data of this second microprocessor.
8. action sensing according to claim 7 system is characterized by, and this receiving trap is to be a universal serial bus adapter.
9. action sensing according to claim 7 system is characterized by, and this transmitter is a Wireless Transmitter, and this receiver is a wireless receiver.
10. action sensing according to claim 1 system is characterized by, and one second rotary sensor of described rotary sensor is that the 3rd with described orthogonal axes is parallel.
11. a hand-held action sensing device comprises:
One three axis accelerometer, and definition has employed three orthogonal axes of this hand-held action sensing device;
Two rotary sensors are used for detecting a sharp angle, and wherein this sharp angle is to be formed between one first orthogonal axes of defined one first and described orthogonal axes of one first rotary sensor of this two rotary sensor;
One microprocessor is coupled to this three axis accelerometer and takes into account the output data of described rotary sensor to receive this 3-axis acceleration; And
One Wireless Transmitter is coupled to this microprocessor to receive the output data of this microprocessor.
12. action sensing device according to claim 11 is characterized by, described two rotary sensors can be one to have the single inductor of two quadrature rotary inductive axles.
13. according to claim 11 or 12 described action sensing devices, it is characterized by, described two rotary inductive devices can be gyroscopes, optics rotary inductive device, and magnetic inductor can be used to detect the inductor of spinning movement.
14. hand-held action sensing device according to claim 13 is characterized by, one second orthogonal axes of described orthogonal axes is the pointing direction along this hand-held action sensing device.
15. hand-held action sensing device according to claim 14 is characterized by, one the 3rd orthogonal axes of described orthogonal axes be with one second rotary sensor of described rotary sensor defined one second parallel.
16. hand-held action sensing device according to claim 13 is characterized by, this first orthogonal axes is to be positioned on the pointing direction of this hand-held action sensing device.
17. hand-held action sensing device according to claim 16 is characterized by, one second orthogonal axes of described orthogonal axes be with one second rotary sensor of described rotary sensor defined one second parallel.
18. method that is used for operating an action sensing system, this action sensing system comprises a hand-hold device and a receiving trap, this hand-held device comprises a Wireless Transmitter, one first microprocessor, one three axis accelerometer, and two rotary sensors, one first rotary sensor of described rotary sensor defined one first be and the defined at least one orthogonal axes of this three axis accelerometer between form a sharp angle, this receiving trap comprises a wireless receiver and one second microprocessor, and this method comprises: this first microprocessor is received an acceleration information of institute's sensing by this three axis accelerometer, receive swing offset data by described rotary sensor, and this acceleration information of being received of output and this swing offset data are to this Wireless Transmitter;
This acceleration information that this Wireless Transmitter transmission is received and this swing offset data are to this wireless receiver;
This acceleration information that this wireless receiver transmission is received and this swing offset data are to this second microprocessor; And
This second microprocessor is according to the swing offset of this sharp angle generation corresponding to defined three orthogonal axes of this three axis accelerometer.
19. method according to claim 18 is characterized by, described two rotary sensors can be one to have the single inductor of two quadrature rotary inductive axles.
20. according to claim 18 or 19 described methods, it is characterized by, described two rotary inductive devices can be gyroscopes, optics rotary inductive device, and magnetic inductor can be used to detect the inductor of spinning movement.
21. method according to claim 20 is characterized by, and comprises that also this second microprocessor calculates an oblique angle θ of this hand-held device.
22. method according to claim 21 is characterized by, and also comprises:
Calculate this oblique angle θ according to following formula:
A·B＝|A|x|B|x?cos?θ；
cosθ＝A·B/(A|x|B|)；
Wherein this acceleration information of being sensed of A representative, and B is represented the vector of unit length on the orthogonal vector of a surface level.
23. method according to claim 22 is characterized by, and comprises that also this second microprocessor calculates three angular velocity of this hand-held device corresponding to these three orthogonal axes.
24. method according to claim 23 is characterized by, and also comprises:
Calculate this hand-held device corresponding to described angular velocity according to following formula:
Z_rotation＝Wz?x?cosθ+(Wxy/sinα)x?sinθ；
X_rotation＝-Wz?x?sinθ+(Wxy/sinα)x?cosθ；
Y_rotation＝Wxy/sin(90°-α)；
Wherein W is meant angular velocity, and α is meant this sharp angle, and θ is meant oblique angle θ.
25. method according to claim 24 is characterized by, and also comprises according to described angular velocity exporting a plurality of game control signals.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/786,401 | 2010-05-24 | ||
| US12/786,401 US8373658B2 (en) | 2010-05-24 | 2010-05-24 | Motion sensing system |
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| Publication Number | Publication Date |
|---|---|
| CN102262437A true CN102262437A (en) | 2011-11-30 |
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| CN2011101371433A Pending CN102262437A (en) | 2010-05-24 | 2011-05-24 | motion sensing system |
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| US (1) | US8373658B2 (en) |
| JP (1) | JP2011247866A (en) |
| CN (1) | CN102262437A (en) |
| TW (1) | TWI452483B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20110285623A1 (en) | 2011-11-24 |
| TW201142651A (en) | 2011-12-01 |
| JP2011247866A (en) | 2011-12-08 |
| US8373658B2 (en) | 2013-02-12 |
| TWI452483B (en) | 2014-09-11 |
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